JPH0654283B2 - Road friction coefficient measuring device - Google Patents
Road friction coefficient measuring deviceInfo
- Publication number
- JPH0654283B2 JPH0654283B2 JP2198294A JP19829490A JPH0654283B2 JP H0654283 B2 JPH0654283 B2 JP H0654283B2 JP 2198294 A JP2198294 A JP 2198294A JP 19829490 A JP19829490 A JP 19829490A JP H0654283 B2 JPH0654283 B2 JP H0654283B2
- Authority
- JP
- Japan
- Prior art keywords
- friction coefficient
- road surface
- surface friction
- fluid pressure
- brake fluid
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Regulating Braking Force (AREA)
Description
【発明の詳細な説明】 〔産業上の利用分野〕 本発明は、路面の摩擦係数を短時間に簡便に測定する路
面摩擦係数計測装置に関するものである。TECHNICAL FIELD The present invention relates to a road surface friction coefficient measuring device for easily measuring a road surface friction coefficient in a short time.
高速道路等では、路面が所定の摩擦係数値を有している
かどうかは、車両の安全走行を保障する上で重要な問題
である。このため、定期的に路面の摩擦係数値の計測が
行われている。また、自動車走行試験用の路面設備に於
ては、路面摩擦係数値を明確にしておく必要があり、こ
のような設備では当然ながら路面摩擦係数の計測が行わ
れる。On highways and the like, whether or not the road surface has a predetermined friction coefficient value is an important issue for ensuring the safe running of the vehicle. Therefore, the friction coefficient value of the road surface is regularly measured. Further, in road surface equipment for vehicle running tests, it is necessary to clarify the road surface friction coefficient value, and such equipment naturally measures the road surface friction coefficient.
路面摩擦係数の計測に於ては従来、車両に牽引される第
２の車両に於て、標準タイヤを装備した車輪を有し、当
該車輪に作用する路面摩擦係数を計測する装置を装備
し、車両走行のまま前記車輪をロックアップ（固着）状
態に至らしめる程に前記車輪のブレーキ液圧を上昇さ
せ、その際の路面摩擦係数の最大値を計測する。また、
路面摩擦係数を検出する装置として、容積、重量ともに
大きく、かつ安価なロードセルが用いられる。Regarding the measurement of the road surface friction coefficient, the second vehicle towed by the vehicle conventionally has a wheel equipped with standard tires, and is equipped with a device for measuring the road surface friction coefficient acting on the wheel, The brake fluid pressure of the wheels is increased to such an extent that the wheels are locked up (fixed) while the vehicle is traveling, and the maximum value of the road surface friction coefficient at that time is measured. Also,
As a device for detecting the road surface friction coefficient, an inexpensive load cell having a large volume and a large weight is used.
従来の路面摩擦係数計測装置では、路面摩擦係数の測定
時には標準タイヤを装備した車輪がロックアップするほ
どに強く当該車輪のブレーキを作動させる。このため、
車両に強い衝撃が加わる、計測に時間を要する、等の問
題があった。また、ロードセルが容積、重量ともに大き
く牽引車両にしか前記車輪を取り付けられない。更にロ
ードセルが高価であるという問題もあった。本発明は従
来の技術が有するこのような問題点を解決した路面摩擦
係数計測装置を提供することを目的とする。In the conventional road surface friction coefficient measuring device, when measuring the road surface friction coefficient, the brake of the wheel is operated so strongly that the wheel equipped with the standard tire locks up. For this reason,
There were problems such as strong impact on the vehicle and time required for measurement. Further, the load cell is large in volume and weight, and the wheels can be attached only to the towing vehicle. Further, there is a problem that the load cell is expensive. It is an object of the present invention to provide a road surface friction coefficient measuring device that solves the problems of the conventional technique.
本発明は路面摩擦係数計測装置であって、特許請求の範
囲第１、２、若しくは３項に記載した特徴を備えたもの
である。The present invention is a road surface friction coefficient measuring device having the features described in claims 1, 2 or 3.
本発明になる路面摩擦係数計測装置は、車両走行時に標
準タイヤを装備した車輪のブレーキ液圧を微小量だけ上
昇及び下降させることにより、衝撃が少なくかつ短時間
で路面の摩擦係数を計測する。また、路面摩擦係数検出
装置として車軸若しくは車軸近傍の歪を検出するコンパ
クトな装置を使用するため、更にブレーキを強く作動さ
せないために、標準タイヤを装備した車輪を、牽引車両
を要することなく自動車等の車両そのものに取り付けて
路面摩擦係数を計測することも可能である。また、路面
摩擦係数検出装置が安価である。このように、安価にか
つ簡便に路面摩擦係数を計測することができる。The road friction coefficient measuring device according to the present invention measures the friction coefficient of the road surface in a short time with less impact by increasing and decreasing the brake fluid pressure of the wheel equipped with the standard tire by a minute amount when the vehicle is running. In addition, since a compact device for detecting the strain on the axle or the vicinity of the axle is used as the road surface friction coefficient detecting device, the wheels equipped with standard tires are used in order to prevent the brakes from being operated more strongly. It is also possible to measure the road friction coefficient by mounting it on the vehicle itself. Further, the road surface friction coefficient detecting device is inexpensive. In this way, the road surface friction coefficient can be measured easily at low cost.
特許請求の範囲第１項記載の路面摩擦係数計測装置で
は、標準タイヤを装備した車輪のブレーキの作動時に、
路面摩擦係数と、車輪の回転速度とを検出して、これに
より路面摩擦係数対車輪のスリップ比の関係を算出し
て、更にその結果から目的とする路面摩擦係数の最大値
を推定する。In the road surface friction coefficient measuring device according to claim 1, when the brake of the wheel equipped with the standard tire is operated,
The road friction coefficient and the wheel rotation speed are detected, the relationship between the road friction coefficient and the wheel slip ratio is calculated, and the target maximum value of the road friction coefficient is estimated from the result.
特許請求の範囲第２項記載の路面摩擦係数計測装置で
は、標準タイヤを装備した車輪のブレーキの作動時に、
路面摩擦係数とブレーキ液圧を検出して、これにより路
面摩擦係数対車輪のスリップ比の関係を算出して、更に
その結果から目的とする路面摩擦係数の最大値を推定す
る。In the road surface friction coefficient measuring device according to claim 2, when the brake of the wheel equipped with the standard tire is operated,
The road surface friction coefficient and the brake fluid pressure are detected, the relationship between the road surface friction coefficient and the wheel slip ratio is calculated, and the target maximum value of the road surface friction coefficient is estimated from the result.
特許請求の範囲第３項記載の路面摩擦係数計測装置は、
特許請求の範囲第１、若しくは２項記載の路面摩擦係数
計測装置に於て、当該装置に備わる前記制御装置が、ブ
レーキ液圧を段階的に上昇下降させる。或は上昇下降を
複数回反復させる、或はこれらを同時に行うことによ
り、路面摩擦係数の最大値をより精度良く演算して推定
する。The road surface friction coefficient measuring device according to claim 3 is:
In the road surface friction coefficient measuring device according to claim 1 or 2, the control device provided in the device raises and lowers the brake fluid pressure stepwise. Alternatively, the maximum value of the road surface friction coefficient is more accurately calculated and estimated by repeating the ascending / descending process a plurality of times or by simultaneously performing these processes.
ここに示すのは好ましい実施形態の一例であって、特許
請求の範囲はここに示す実施例に限定されるものではな
い。This is an example of a preferred embodiment, and the scope of the claims is not limited to the examples shown here.
第１図は、特許請求の範囲第１項記載の路面摩擦係数計
測装置の実施例に於ける全体構成を示すブロック図であ
る。６は標準タイヤを装備した車輪である。路面摩擦係
数を計測しないときには、切り替え弁４の作用でブレー
キペダル１とマスターシリンダ２で生成されるブレーキ
液圧が配管３を経由してブレーキパッド５へ伝達され
る。このときブレーキ液圧発生装置８につながる配管３
は、切り替え弁４で閉塞される。ブレーキ液圧発生装置
は公知の技術で構成可能である。また、切り替え弁４
は、公知の油圧制御弁により容易に構成可能である。路
面摩擦係数検出装置１０は、車軸若しくは車軸近傍の歪
を介して路面摩擦係数を検出するもので、同一出願人に
よる特許出願（特願平１−198709（特開平３−220056
号）を使用する。制御装置７は、路面摩擦係数の検出信
号１１及び車輪速度の検出信号１３に基づいて路面摩擦
係数の最大値を演算推測する。制御装置７は、マイクロ
コンピュータ、メモリ、入出力インタフェイス等からな
る電子装置である。車輪速度検出装置１２は、公知の技
術を用いる。制御装置７は、第２図(a)に示すようにブ
レーキ液圧Ｐを上昇及び下降させるべくブレーキ液圧発
生装置８に指示する。これに伴って、(b)、(c)のように
路面摩擦係数μ、及び車輪速度ωが時間とともに計測さ
れ制御装置７に取り込まれる。制御装置７は、これらを
もとに演算を行う。車輪速度ωの検出値からスリップ比
Ｓ＝１−ω／ωsを算出することができる。ここで、ωs
は車両速度であり、ブレーキを作動させない他の車輪の
回転速度から得られる。路面摩擦係数の時間変化μ(t)
と、スリップ比の時間変化Ｓ(t)とからμ（Ｓ）を演算
する。印加するブレーキ液圧Ｐの最大値は、μ及びＳが
μ対Ｓ曲線の最大点に達するより低いレベルにとどまる
ような十分低い値である。一般にμ対Ｓ曲線は、その原
点近くのμ対Ｓの関係から、ある程度μ対Ｓ曲線の最大
点を推測することができる。制御装置ではこの推測をマ
イクロコンピュータの働きにより行う。得られたμの最
大値が目的とする路面摩擦係数の最大値である。FIG. 1 is a block diagram showing an overall configuration of an embodiment of a road surface friction coefficient measuring device described in claim 1. 6 is a wheel equipped with a standard tire. When the road surface friction coefficient is not measured, the brake fluid pressure generated by the brake pedal 1 and the master cylinder 2 by the action of the switching valve 4 is transmitted to the brake pad 5 via the pipe 3. At this time, the pipe 3 connected to the brake fluid pressure generator 8
Are closed by the switching valve 4. The brake fluid pressure generating device can be configured by a known technique. In addition, the switching valve 4
Can be easily configured by a known hydraulic control valve. The road surface friction coefficient detecting device 10 detects the road surface friction coefficient through strain on the axle or in the vicinity of the axle.
No.) is used. The control device 7 calculates and estimates the maximum value of the road friction coefficient based on the road friction coefficient detection signal 11 and the wheel speed detection signal 13. The control device 7 is an electronic device including a microcomputer, a memory, an input / output interface and the like. The wheel speed detection device 12 uses a known technique. The controller 7 instructs the brake fluid pressure generator 8 to increase and decrease the brake fluid pressure P as shown in FIG. 2 (a). Along with this, as shown in (b) and (c), the road surface friction coefficient μ and the wheel speed ω are measured with time and taken into the control device 7. The control device 7 calculates based on these. The slip ratio S = 1−ω / ωs can be calculated from the detected value of the wheel speed ω. Where ωs
Is the vehicle speed and is derived from the rotational speed of the other wheels that do not activate the brake. Change in road friction coefficient with time μ (t)
And μ (S) is calculated from the time change S (t) of the slip ratio. The maximum value of the applied brake fluid pressure P is sufficiently low so that μ and S stay at a lower level reaching the maximum point of the μ vs. S curve. In general, the maximum point of the μ-to-S curve can be estimated to some extent from the relationship of the μ-to-S curve near its origin. The controller makes this estimation by the action of the microcomputer. The obtained maximum value of μ is the maximum value of the target road surface friction coefficient.
第３図は、特許請求の範囲第２項記載の路面摩擦係数計
測装置の実施例に於ける全体構成を示すブロック図であ
る。車輪速度検出装置１２の替わりにブレーキ液圧検出
装置１４を装備する点以外第１図に示す構成と同じであ
る。本請求項における装置は、制御装置７は路面摩擦係
数の検出値μとブレーキ液圧の検出値Ｐとから、路面摩
擦係数の最大値を演算推定する。車輪の運動方程式： Ｉ・dω／dt＝μ・Ｎ・ｒ−ｋ・Ｐから、ωs・dS／dμ
・dμ／dt＋（Ｎ・ｒ／Ｉ）μ＝（ｋ／Ｉ）Ｐが得られ
る。ここで、Ｉは車輪の慣性モーメント、Ｎは車輪に作
用する垂直抗力、ｒは車輪半径、ｋはブレーキトルクと
ブレーキ液圧との間の比例係数、ｔは時間である。この
式からわかるように、μとＰの時間変化からdS／dμを
算出することができる。これより、μ対Ｓの関係を算出
することも可能である。印加するブレーキ液圧Ｐは、前
記の特許請求の範囲第１項記載の装置と同様に第２図に
示すとおりで、μ及びＳがμ対Ｓ曲線の最大点に達する
より低いレベルにとどまるような十分低い値である。制
御装置では前記と同様に目的とする路面摩擦係数の最大
値を演算により推測する。FIG. 3 is a block diagram showing the overall configuration of an embodiment of the road surface friction coefficient measuring device described in claim 2. The structure is the same as that shown in FIG. 1 except that a brake fluid pressure detecting device 14 is provided instead of the wheel speed detecting device 12. In the device according to the present invention, the control device 7 calculates and estimates the maximum value of the road surface friction coefficient from the detected value μ of the road surface friction coefficient and the detected value P of the brake fluid pressure. Wheel equation of motion: From I · dω / dt = μ · N · r−k · P, ωs · dS / dμ
• dμ / dt + (N · r / I) μ = (k / I) P is obtained. Here, I is the moment of inertia of the wheel, N is the normal force acting on the wheel, r is the wheel radius, k is the proportional coefficient between the brake torque and the brake fluid pressure, and t is time. As can be seen from this equation, dS / dμ can be calculated from the time change of μ and P. From this, it is also possible to calculate the relationship of μ to S. The applied brake fluid pressure P is as shown in FIG. 2 as in the device according to the first claim, so that μ and S remain at a lower level reaching the maximum of the μ vs. S curve. It is a sufficiently low value. In the control device, the maximum value of the target road surface friction coefficient is estimated by calculation as in the above.
特許請求の範囲第３項記載の路面摩擦係数計測装置の全
体構成図は、第１図又は第２図と同様である。本請求項
に於けるブレーキ液圧の印加の形式は第２図(a)の波形
を複数回繰り返すのが実施例の一つである。これにより
制御装置に於て、各回のブレーキ液圧の上昇下降による
計測値を平均操作して精度の良い路面摩擦係数の最大値
を得る。また、第２図(a)の波形に於てブレーキ液圧Ｐ
の上昇下降の速度を十分小さくする事により、雑音等に
よる測定誤差を極小化し、精度の良い路面摩擦係数の最
大値を得ることもできる。さらにもう一つの実施例は第
４図に示すように、ブレーキ液圧を段階的に上昇下降さ
せるものである。ブレーキ液圧の静止期間を設け、μ、
ω等の定常値を測定することにより雑音等による測定誤
差を極小化することができる。The overall configuration diagram of the road surface friction coefficient measuring device described in claim 3 is the same as that shown in FIG. 1 or 2. One of the embodiments of the application form of the brake fluid pressure in the present invention is to repeat the waveform of FIG. 2 (a) a plurality of times. As a result, the control device averages the measured values by the rise and fall of the brake fluid pressure at each time, and obtains the accurate maximum value of the road surface friction coefficient. Further, in the waveform of FIG. 2 (a), the brake fluid pressure P
It is also possible to minimize the measurement error due to noise and the like and obtain an accurate maximum value of the road surface friction coefficient by making the speed of ascending and descending of sufficiently small. In yet another embodiment, as shown in FIG. 4, the brake fluid pressure is raised and lowered stepwise. There is a rest period of brake fluid pressure, μ,
By measuring a steady value such as ω, the measurement error due to noise or the like can be minimized.
本発明になる路面摩擦係数計測装置は、車両走行時に標
準タイヤを装備した車輪のブレーキ液圧を微小量だけ上
昇及び下降させることにより、衝撃が少なくかつ短時間
で路面の摩擦係数を計測することができる。また、路面
摩擦係数検出装置として車軸若しくは車軸近傍の歪を検
出するコンパクトな装置を使用するため、更にブレーキ
を強く作動させないために、標準タイヤを装備した車輪
を、牽引車両を要することなく自動車等の車両そのもの
に取り付けて路面摩擦係数を計測することも可能であ
る。また、路面摩擦係数検出装置が安価である。このよ
うに、安価にかつ簡便に路面摩擦係数を計測することが
できる。The road surface friction coefficient measuring device according to the present invention is capable of measuring the road surface friction coefficient in a short time with little impact by increasing and decreasing the brake fluid pressure of a wheel equipped with standard tires by a very small amount when the vehicle is running. You can In addition, since a compact device for detecting the strain on the axle or the vicinity of the axle is used as the road surface friction coefficient detecting device, the wheels equipped with standard tires are used in order to prevent the brakes from being operated more strongly. It is also possible to measure the road friction coefficient by mounting it on the vehicle itself. Further, the road surface friction coefficient detecting device is inexpensive. In this way, the road surface friction coefficient can be measured easily at low cost.
第１図は、特許請求の範囲第１項記載の路面摩擦係数計
測装置の実施例に於ける全体構成を示すブロック図、 第２図は、特許請求の範囲第１項記載の路面摩擦係数計
測装置の実施例に於ける動作を示すグラフで、(a)は制
御装置の指示による油圧Ｐの時間変化を表すグラフ、
(b)は検出される路面摩擦係数μ対時間を表すグラフ、
(c)は検出される車輪速度ω対時間を表すグラフ、 第３図は、特許請求の範囲第２項記載の路面摩擦係数検
出装置の実施例に於ける全体構成を示すブロック図、 第４図は、特許請求の範囲第３項記載の路面摩擦係数計
測装置の実施例に於ける動作を示すグラフで、(a)は制
御装置の指示による油圧Ｐの時間変化を表すグラフ、
(b)は検出される路面摩擦係数μ対時間を表すグラフ、
(c)は検出される車輪速度ω対時間を表すグラフであ
る。 １……ブレーキペダル ２……マスターシリンダ ３……ブレーキ液圧配管 ４……切り替え弁 ５……ブレーキパッド ６……標準タイヤを装備した車輪 ７……制御装置 ８……ブレーキ液圧発生装置 ９……ブレーキ液圧を指示する信号 １０……路面摩擦係数検出装置 １１……路面摩擦係数の検出信号 １２……車輪速度検出装置 １３……車輪速度検出信号 １４……ブレーキ液圧検出装置 １５……ブレーキ液圧検出信号FIG. 1 is a block diagram showing an overall configuration of an embodiment of a road surface friction coefficient measuring device according to claim 1 and FIG. 2 is a road surface friction coefficient measuring device according to claim 1. 3 is a graph showing an operation in the embodiment of the apparatus, (a) is a graph showing a time change of the hydraulic pressure P according to an instruction from the control device,
(b) is a graph showing the detected road friction coefficient μ vs. time,
(c) is a graph showing the detected wheel speed ω vs. time, and FIG. 3 is a block diagram showing the overall configuration of an embodiment of the road surface friction coefficient detecting device according to claim 2, FIG. The figure is a graph showing the operation in the embodiment of the road surface friction coefficient measuring device according to claim 3, (a) is a graph showing the time change of the hydraulic pressure P according to the instruction of the control device,
(b) is a graph showing the detected road friction coefficient μ vs. time,
(c) is a graph showing the detected wheel speed ω vs. time. 1 …… Brake pedal 2 …… Master cylinder 3 …… Brake fluid pressure piping 4 …… Switching valve 5 …… Brake pad 6 …… Wheels equipped with standard tires 7 …… Control device 8 …… Brake fluid pressure generator 9 ...... Brake fluid pressure instructing signal 10 ...... Road surface friction coefficient detecting device 11 ...... Road surface friction coefficient detecting signal 12 …… Wheel speed detecting device 13 …… Wheel speed detecting signal 14 …… Brake hydraulic pressure detecting device 15 …… ... Brake fluid pressure detection signal
Claims (3)
に於て、標準タイヤを装備した車輪を少なくとも１個有
し、当該車輪の車軸若しくは車軸近傍に於て生じる歪を
検出する手段を備えた路面摩擦係数検出装置と、前記車
輪の回転速度検出装置と、前記車輪のブレーキ液圧を制
御する制御装置とを備え、車両走行時に於て当該制御装
置がブレーキ液圧を上昇下降させ、その間に路面摩擦係
数検出装置により検出される路面摩擦係数と車輪回転速
度より路面摩擦係数の最大値を演算して推定することを
特徴とする路面摩擦係数計測装置。1. A vehicle or a second vehicle towed by the vehicle, comprising at least one wheel equipped with standard tires, and means for detecting a strain generated on or near the axle of the wheel. A road surface friction coefficient detecting device provided, a rotation speed detecting device of the wheel, and a control device for controlling the brake fluid pressure of the wheel, the control device raises and lowers the brake fluid pressure when the vehicle is running, A road surface friction coefficient measuring device characterized by calculating and estimating a maximum value of the road surface friction coefficient from a road surface friction coefficient detected by a road surface friction coefficient detecting device and a wheel rotation speed.
に於て、標準タイヤを装備した車輪を少なくとも１個有
し、当該車輪の車軸若しくは車軸近傍に於て生じる歪を
検出する手段を備えた路面摩擦係数検出装置と、前記車
輪のブレーキ液圧を制御する制御装置と、当該ブレーキ
液圧を検出する装置を備え、車両走行時に於て前記制御
装置がブレーキ液圧を上昇下降させ、その間に路面摩擦
係数検出装置により検出される路面摩擦係数とブレーキ
液圧より路面摩擦係数の最大値を演算して推定すること
を特徴とする路面摩擦係数計測装置。2. A vehicle or a second vehicle towed by the vehicle, comprising at least one wheel equipped with standard tires, and means for detecting a strain occurring in the axle of the wheel or in the vicinity of the axle. A road surface friction coefficient detecting device provided, a control device for controlling the brake fluid pressure of the wheels, and a device for detecting the brake fluid pressure, the control device raises and lowers the brake fluid pressure when the vehicle is running, A road surface friction coefficient measuring device, characterized in that a maximum value of the road surface friction coefficient is calculated and estimated from the road surface friction coefficient detected by the road surface friction coefficient detecting device and the brake fluid pressure during that time.
路面摩擦係数計測装置に於て、当該装置に備わる前記制
御装置が、ブレーキ液圧を段階的に変化若しくは上昇下
降させる、或は上昇下降を複数回反復させる、或は所定
の圧力増（減）勾配を持つブレーキ液圧をかける、或は
これらを組み合わせて行うことにより、路面摩擦係数の
最大値をより精度良く演算して推定することを特徴とす
る路面摩擦係数計測装置。3. The road surface friction coefficient measuring device according to claim 1 or 2, wherein the control device provided in the device changes or increases or decreases the brake fluid pressure stepwise. By repeating up and down multiple times, or applying a brake fluid pressure with a predetermined pressure increase (decrease) gradient, or by combining these, the maximum value of the road surface friction coefficient is calculated more accurately and estimated. A road surface friction coefficient measuring device characterized by:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2198294A JPH0654283B2 (en) | 1990-07-25 | 1990-07-25 | Road friction coefficient measuring device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2198294A JPH0654283B2 (en) | 1990-07-25 | 1990-07-25 | Road friction coefficient measuring device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0483147A JPH0483147A (en) | 1992-03-17 |
| JPH0654283B2 true JPH0654283B2 (en) | 1994-07-20 |
Family
ID=16388739
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2198294A Expired - Fee Related JPH0654283B2 (en) | 1990-07-25 | 1990-07-25 | Road friction coefficient measuring device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0654283B2 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108375541B (en) * | 2018-02-28 | 2019-12-03 | 刘剑 | A kind of road detection apparatus |
| CN108344683B (en) * | 2018-02-28 | 2020-04-24 | 鲍菊芳 | Road surface friction coefficient detection device |
-
1990
- 1990-07-25 JP JP2198294A patent/JPH0654283B2/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0483147A (en) | 1992-03-17 |
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